# Startup stuck in Violation C191A1 - how to get into recovery mode

**URL:** <https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716>\
**Category:** Technical Questions\
**Created:** [November 20, 2021, 10:53am UTC](https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716 "2021-11-20T10:53:11Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon6566029](https://avatars.discourse-cdn.com/v4/letter/a/35a633/32.png) [@anon6566029](https://forum.universal-robots.com/u/anon6566029)\
**Post date:** [November 20, 2021, 10:53am UTC](https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716/1 "2021-11-20T10:53:11Z")

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Hi there,

I’m having a problem that the Ur5 won’t enter recovery mode after starting in violation (C191A1: Safety system violation: joint position limit violated)

But when I start our UR5 and click “On” on the polyscope, I get a whirring sound in the arm and it shows a dialog of the safety violation immediately and no recovery mode. (I can then restart but it is exactly the same again)

The logs also show this:

C4A93 - Packet counter disagreement in packet from processor A to joints

 ![IMG-0796](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/9/90d3db8233998d2702813063314dbcf9b22f623f.jpeg)

Any tips? Is there a way of manually putting it in Recovery mode?

Software is version 3.10

Thanks!  
Oliver

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**Author:** ![mmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mmi/32/691_2.png) [@mmi](https://forum.universal-robots.com/u/mmi)\
**Post date:** [November 22, 2021, 11:47am UTC](https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716/3 "2021-11-22T11:47:12Z")

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Try creating new installation, and choose to reset all safety settings.  
This however looks like hardaware issue.

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**Author:** ![anon6566029](https://avatars.discourse-cdn.com/v4/letter/a/35a633/32.png) [@anon6566029](https://forum.universal-robots.com/u/anon6566029)\
**Post date:** [December 6, 2021, 1:56pm UTC](https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716/4 "2021-12-06T13:56:11Z")

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We largely solved this by taking the covers off the affected joint and unlocking the brake manually, when we could then return it to the correct range.

There may be other issues around our arm, but this got us going again and everything seems to be relatively normal.

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**Author:** ![oziel.medina](https://avatars.discourse-cdn.com/v4/letter/o/8797f3/32.png) [@oziel.medina](https://forum.universal-robots.com/u/oziel.medina)\
**Post date:** [May 15, 2026, 9:06pm UTC](https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716/5 "2026-05-15T21:06:23Z")

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¿Como liberaste el freno? ¿Cual pin o conector retiraste?

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [May 21, 2026, 5:55am UTC](https://forum.universal-robots.com/t/startup-stuck-in-violation-c191a1-how-to-get-into-recovery-mode/17716/6 "2026-05-21T05:55:48Z")

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Debes presionar el pasador de la bobina del solenoide de freno. Esto solo es posible en los robots CB. Es muy difícil acceder a él en la serie E.